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Note 8 - Loans Payable (Details Textual)
12 Months Ended
Oct. 04, 2016
USD ($)
Dec. 31, 2016
USD ($)
Dec. 31, 2015
USD ($)
Jun. 30, 2013
USD ($)
a
Cost to Build Facility, Percentage       80.00%
Loans Payable, Current   $ 84,000 $ 79,000  
Loans Payable, Noncurrent   29,601,000 $ 386,000  
MidCap Agreement [Member] | MidCap Financial [Member]        
Debt Agreement, Maximum Borrowing Capacity $ 40,000,000      
Long-term Debt   30,000,000    
Debt Agreement, Additional Increase 10      
Debt Agreement, Maximum Borrowing Capacity, Including Additional Increase $ 60,000,000      
Debt Agreement, Final Commitment Fee Percentage 6.00%      
MidCap Agreement [Member] | MidCap Financial [Member] | Revolving Credit Facility [Member]        
Line of Credit Facility, Maximum Borrowing Capacity $ 10,000,000      
Line of Credit Facility, Expiration Period 5 years      
Line of Credit Facility, Unused Capacity, Commitment Fee Percentage 0.50%      
Line of Credit Facility, Early Termination, Commitment Fee Percentage, First Year 3.00%      
Line of Credit Facility, Early Termination, Commitment Fee Percentage, Second Year 2.00%      
Line of Credit Facility, Early Termination, Commitment Fee Percentage, Third Year and Thereafter 1.00%      
Long-term Line of Credit   0    
MidCap Agreement [Member] | MidCap Financial [Member] | London Interbank Offered Rate (LIBOR) [Member] | Revolving Credit Facility [Member]        
Debt Instrument, Basis Spread on Variable Rate 4.45%      
MidCap Agreement [Member] | MidCap Financial [Member] | Term Loan [Member]        
Long-term Debt   $ 30,000,000    
Debt Instrument, Term 5 years      
Debt Instrument, Periodic Payment, Term 2 years      
Debt Instrument, Periodic Payment, Term, Potential Extension 4 years      
Debt Agreement, Exit Fee, Percentage   6.00%    
Interest Expense   $ 1,800,000    
MidCap Agreement [Member] | MidCap Financial [Member] | Term Loan [Member] | London Interbank Offered Rate (LIBOR) [Member]        
Debt Instrument, Basis Spread on Variable Rate 7.60%      
Lease Incentive [Member]        
Loans Payable, Current   71,000    
Loans Payable, Noncurrent   $ 236,000    
Marlborough, Massachusetts [Member]        
Area of Real Estate Property | a       14,500
Incentive from Lessor       $ 582,000